Fault Tolerant Control Based on Adaptive Sliding Mode Method for Manipulator with Actuator Fault

被引：0
|
作者：
Zhao, Jing [1 ]
Jiang, Sen [2 ]
Chen, Yaxi [2 ]
Xie, Fei [3 ]
Fu, Jian [4 ]
机构：
[1] Nanjing Univ Posts & Telecommun, Jiangsu Engn Lab Internet Things & Intelligent Ro, Nanjing 210023, Peoples R China
[2] Nanjing Univ Posts & Telecommun, Sch Automat, Nanjing 210023, Peoples R China
[3] Nanjing Normal Univ, Sch Elect & Automat Engn, Nanjing 210042, Peoples R China
[4] Nanjing Univ Sci & Technol, Coll Energy & Power Engn, Nanjing 210094, Peoples R China
来源：
2018 IEEE CSAA GUIDANCE, NAVIGATION AND CONTROL CONFERENCE (CGNCC) | 2018年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A fault tolerant control(FTC) scheme based on adaptive sliding mode control technique with guaranteed stability are obtained for space manipulator under actuator fault. Firstly, the dynamic model of space manipulator is addressed and its actuator faulty model is modeled in free-swinging fault case. Secondly, adaptive sliding mode fault tolerant control for actuator fault and external disturbance is proposed, in which a novel kind of multiple sliding mode surface is design to reduce the chattering and convergence time of conventional sliding mode. Finally, the effectiveness of the proposed fault tolerant controller is successfully demonstrated by simulations for a dual-joint manipulator.
引用
收藏
页数：6
相关论文
共 50 条
  • [1] A Sliding Mode Fault Tolerant Control Method for a Manipulator in Task-space under Dead Zone and Actuator Fault
    Bui, Tung T.
    Bui, Thang Q.
    Pham, Yen H.
    Nguyen, Tinh, V
    [J]. IFAC PAPERSONLINE, 2022, 55 (37): : 488 - 493
  • [2] Adaptive Backstepping Based Sensor and Actuator Fault Tolerant Control of a Manipulator
    Zainab Shahid Awan
    Khurram Ali
    Jamshed Iqbal
    Adeel Mehmood
    [J]. Journal of Electrical Engineering & Technology, 2019, 14 : 2497 - 2504
  • [3] Adaptive Backstepping Based Sensor and Actuator Fault Tolerant Control of a Manipulator
    Awan, Zainab Shahid
    Ali, Khurram
    Iqbal, Jamshed
    Mehmood, Adeel
    [J]. JOURNAL OF ELECTRICAL ENGINEERING & TECHNOLOGY, 2019, 14 (06) : 2497 - 2504
  • [4] Fault Tolerant Control of Actuator Additive Fault for Quadrotor Based on Sliding Mode Observer
    Zheng, Jiajing
    Li, Ping
    [J]. PROCEEDINGS OF THE 2019 31ST CHINESE CONTROL AND DECISION CONFERENCE (CCDC 2019), 2019, : 5908 - 5913
  • [5] An adaptive sliding mode actuator fault tolerant control scheme for octorotor system
    Ejaz, Fatima
    Hamayun, Mirza Tariq
    Hussain, Shariq
    Ijaz, Salman
    Yang, Shunkun
    Shehzad, Naeem
    Rashid, Aamir
    [J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, 2019, 16 (02):
  • [6] Adaptive Fault-tolerant Control for Mechanical Manipulator Systems with Actuator Fault
    Yong Chen
    Bin Guo
    Yuezhi Liu
    Ke Zhang
    [J]. International Journal of Control, Automation and Systems, 2022, 20 : 2326 - 2339
  • [7] Adaptive Fault-tolerant Control for Mechanical Manipulator Systems with Actuator Fault
    Chen, Yong
    Guo, Bin
    Liu, Yuezhi
    Zhang, Ke
    [J]. INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, 2022, 20 (07) : 2326 - 2339
  • [8] Robust Adaptive Sliding Mode Fault Tolerant Control for Nonlinear System with Actuator Fault and External Disturbance
    Zheng, Liang
    Dong, Xuelian
    Luo, Qian
    Zeng, Menglan
    Yang, Xinping
    Zhou, Rong
    [J]. MATHEMATICAL PROBLEMS IN ENGINEERING, 2019, 2019
  • [9] Model Predictive based Sliding Mode Control for Actuator Fault Tolerant Control
    Aval, Seyed Soroosh Tabadkani
    Eghbal, Naimeh
    [J]. 2019 27TH IRANIAN CONFERENCE ON ELECTRICAL ENGINEERING (ICEE 2019), 2019, : 968 - 973
  • [10] L1 Fault Tolerant Control with Sliding-mode Based Adaptive Law for Aircraft Actuator Fault
    Wang Chao
    Xie Wujie
    Dong Wenhan
    Jiao Jinyan
    [J]. 2017 5TH INTERNATIONAL CONFERENCE ON MECHANICAL, AUTOMOTIVE AND MATERIALS ENGINEERING (CMAME), 2017, : 259 - 264
12345